void init(void)
{
// LEDs
DDRC |= (1 << PC0);
DDRD |= (1 << PD0);
// Switch
PORTD |= (1 << PD2);
#ifdef DEBUG
initUart();
#endif
initCan();
// POC - led dimming
POCR_RB = 4000;
PCNF = (1 << POPA) | (1 << POPB);
PMIC0 = (1 << POVEN0);
PMIC1 = (1 << POVEN1);
POCR0SA = 0;
POCR0RA = 0;
POCR1SA = 0;
POCR1RA = 0;
PCTL = (1 << PRUN);
POC = (1 << POEN1A) | (1 << POEN0A);
// Timer 0 - Mainloop
TCCR0A = (1 << WGM01); // CTC mode,
TCCR0B = (1 << CS01);
OCR0A = 200 - 1; // Prescalar 8, TOP 200 -> 10000 Hz
TIMSK0 = (1 << OCIE0A); // Output compare interrupt enable
// Timer 1 - WSS Emulation
TCCR1A = (1 << COM1B1) | (1 << COM1B0) | (1 << WGM10);
TCCR1B = (1 << WGM13) | (1 << CS11);
DDRC |= (1 << PC1);
freq = 100;
// Enable Interrupts
sei();
}
int main () {
LPC_GPIO0->DIR |= 1<<7; // LED is PIO0_7 on the LPCxpresso 11C24
LPC_GPIO0->DATA &= ~(1<<7); // turn LED off
delay(1000); // wait 1s after power-up before uploading to target
initCan();
/* Configure message object 1 to receive all 11-bit messages 0x5FD */
static CCAN_MSG_OBJ_T msg;
msg.msgobj = 1;
msg.mode_id = 0x5FD;
msg.mask = 0x7FF;
LPC_CCAN_API->config_rxmsgobj(&msg);
// read device type ("LPC1")
uint32_t devType = sdoReadSegmented(0x1000, 0);
if (memcmp(&devType, "LPC1", 4) != 0)
blinkLed(4);
// read 16-byte serial number
// uint32_t uid[4];
// uid[0] = sdoReadSegmented(0x5100, 1);
// uid[1] = sdoReadSegmented(0x5100, 2);
// uid[2] = sdoReadSegmented(0x5100, 3);
// uid[3] = sdoReadSegmented(0x5100, 4);
// unlock for upload
uint16_t unlock = 23130;
sdoWriteExpedited(0x5000, 0, unlock, sizeof unlock);
// prepare sectors
sdoWriteExpedited(0x5020, 0, 0x0000, 2);
// erase sectors
sdoWriteExpedited(0x5030, 0, 0x0000, 2);
if (getBootConfigByte() != 0) {
// copy code to RAM buffer and add the boot config byte
memset(codeBuf, 0xFF, sizeof codeBuf);
memcpy(codeBuf, bootData, sizeof bootData);
codeBuf[sizeof codeBuf-1] = getBootConfigByte();
// start write to RAM
sdoWriteExpedited(0x5015, 0, 0x10000800, 4); // ram address
// upload code to RAM
sdoWriteSegmented(0x1F50, 1, 0x1000);
uint8_t toggle = 0;
for (size_t i = 0; i < sizeof codeBuf; i += 7) {
sdoWriteDataSegment(toggle, codeBuf + i, 7);
toggle ^= 0x10;
}
// prepare sectors
sdoWriteExpedited(0x5020, 0, 0x0000, 2);
// copy ram to flash
sdoWriteExpedited(0x5050, 1, 0x00000000, 4); // flash address
sdoWriteExpedited(0x5050, 2, 0x10000800, 4); // ram address
sdoWriteExpedited(0x5050, 3, 0x1000, 2); // 4096 bytes
}
// G 0000
sdoWriteExpedited(0x5070, 0, 0, 4);
sdoWriteExpedited(0x1F51, 1, 1, 1);
// 5 quick blips if there has been any CAN error, or steady blink if all ok
blinkLed(error ? 5 : 0);
return 0;
}
void initHardware(Logging *logger, Engine *engine) {
engine_configuration_s *engineConfiguration = engine->engineConfiguration;
efiAssertVoid(engineConfiguration!=NULL, "engineConfiguration");
board_configuration_s *boardConfiguration = &engineConfiguration->bc;
printMsg(logger, "initHardware()");
// todo: enable protection. it's disabled because it takes
// 10 extra seconds to re-flash the chip
//flashProtect();
chMtxInit(&spiMtx);
#if EFI_HISTOGRAMS
/**
* histograms is a data structure for CPU monitor, it does not depend on configuration
*/
initHistogramsModule();
#endif /* EFI_HISTOGRAMS */
/**
* This is so early because we want to init logger
* which would be used while finding trigger synch index
* while config read
*/
initTriggerDecoder();
/**
* We need the LED_ERROR pin even before we read configuration
*/
initPrimaryPins();
if (hasFirmwareError()) {
return;
}
initDataStructures(PASS_ENGINE_PARAMETER_F);
#if EFI_INTERNAL_FLASH
palSetPadMode(CONFIG_RESET_SWITCH_PORT, CONFIG_RESET_SWITCH_PIN, PAL_MODE_INPUT_PULLUP);
initFlash(engine);
/**
* this call reads configuration from flash memory or sets default configuration
* if flash state does not look right.
*/
if (SHOULD_INGORE_FLASH()) {
engineConfiguration->engineType = FORD_ASPIRE_1996;
resetConfigurationExt(logger, engineConfiguration->engineType, engine);
writeToFlash();
} else {
readFromFlash();
}
#else
engineConfiguration->engineType = FORD_ASPIRE_1996;
resetConfigurationExt(logger, engineConfiguration->engineType, engineConfiguration, engineConfiguration2, boardConfiguration);
#endif /* EFI_INTERNAL_FLASH */
if (hasFirmwareError()) {
return;
}
mySetPadMode2("board test", boardConfiguration->boardTestModeJumperPin, PAL_MODE_INPUT_PULLUP);
bool isBoardTestMode_b = GET_BOARD_TEST_MODE_VALUE();
initAdcInputs(isBoardTestMode_b);
if (isBoardTestMode_b) {
// this method never returns
initBoardTest();
}
initRtc();
initOutputPins();
#if EFI_HIP_9011
initHip9011();
#endif /* EFI_HIP_9011 */
#if EFI_MAX_31855
initMax31855(boardConfiguration);
#endif /* EFI_MAX_31855 */
#if EFI_CAN_SUPPORT
initCan();
#endif /* EFI_CAN_SUPPORT */
// init_adc_mcp3208(&adcState, &SPID2);
// requestAdcValue(&adcState, 0);
// todo: figure out better startup logic
initTriggerCentral(engine);
#if EFI_SHAFT_POSITION_INPUT
initShaftPositionInputCapture();
#endif /* EFI_SHAFT_POSITION_INPUT */
initSpiModules(boardConfiguration);
#if EFI_FILE_LOGGING
initMmcCard();
#endif /* EFI_FILE_LOGGING */
// initFixedLeds();
// initBooleanInputs();
#if EFI_UART_GPS
initGps();
#endif
#if ADC_SNIFFER
initAdcDriver();
#endif
#if EFI_HD44780_LCD
// initI2Cmodule();
lcd_HD44780_init();
if (hasFirmwareError())
return;
lcd_HD44780_print_string(VCS_VERSION);
#endif /* EFI_HD44780_LCD */
addConsoleActionII("i2c", sendI2Cbyte);
// while (true) {
// for (int addr = 0x20; addr < 0x28; addr++) {
// sendI2Cbyte(addr, 0);
// int err = i2cGetErrors(&I2CD1);
// print("I2C: err=%x from %d\r\n", err, addr);
// chThdSleepMilliseconds(5);
// sendI2Cbyte(addr, 255);
// chThdSleepMilliseconds(5);
// }
// }
printMsg(logger, "initHardware() OK!");
}
bool ForceTorqueCtrl::Init()
{
initCan();
//SetActiveCalibrationMatrix(0);
//ReadCalibrationMatrix();
}
void main(void) {
char i, j;
unsigned char txbuff[8] = "";
word distance = 0;
CANMessage message = { 0x00, 0x00, 0x00, {0}};
unsigned char curFloor = 0;
unsigned char elevatorDirection = 0;
unsigned char callButtonsPressed[2][NUM_FLOORS] = { 0 };
unsigned char panelButtonsPressed[NUM_FLOORS] = { 0 };
unsigned char panicButton = 0;
unsigned char elevatorTarget = 0;
unsigned char targetFound = 0;
timer_init();
LCDinit();
initCan();
j=0;
while (!(CANCTL0 & 0x10));
CANRFLG = 0xC3;
CANRIER = 0x01;
//LCDprintf("Hello World");
usonic_init();
EnableInterrupts;
for(;;) {
LCDclear();
//get elevator distance
distance = usonic_getDistance();
//generalized for NUM_FLOORS, for a given floor offset to the ground floor, and distance between floors (left in big if statement in case
//distance between floors is non-constant
for(i=0; i< NUM_FLOORS; i++){
if (distance < (FLOOR_OFFSET + (FLOOR_DISTANCE*i) + ELEV_THRESHOLD) && distance > (FLOOR_OFFSET + (FLOOR_DISTANCE*i) - ELEV_THRESHOLD)) {
//LCDprintf("1st Floor!\n %d mm", distance);
curFloor = i+1;
}
}
/*if (distance < (ELEV_1ST + ELEV_THRESHOLD) && distance > (ELEV_1ST - ELEV_THRESHOLD)) {
//LCDprintf("1st Floor!\n %d mm", distance);
curFloor = 1;
} else if (distance < (ELEV_2ND + ELEV_THRESHOLD) && distance > (ELEV_2ND - ELEV_THRESHOLD)) {
//LCDprintf("2nd Floor!\n %d mm", distance);
curFloor = 2;
} else if (distance < (ELEV_3RD + ELEV_THRESHOLD) && distance > (ELEV_3RD - ELEV_THRESHOLD)) {
//LCDprintf("3rd Floor!\n %d mm", distance);
curFloor = 3;
} else if (distance < (ELEV_4TH + ELEV_THRESHOLD) && distance > (ELEV_4TH - ELEV_THRESHOLD)) {
//LCDprintf("4th Floor!\n %d mm", distance);
curFloor = 4;
} else {
//LCDprintf("Distance %d mm", distance);
} */
if (elevatorTarget != curFloor) {
if ((elevatorTarget - curFloor) > 0 ) {
elevatorDirection = DIR_UP;
} else {
elevatorDirection = DIR_DOWN;
}
txbuff[0] = ELEV_LOCATION;
txbuff[1] = curFloor;
txbuff[2] = elevatorDirection;
message.id = ELEVATOR_CAR_ID | FLOOR_1_ID | FLOOR_2_ID | FLOOR_3_ID;
message.priority = 0x00;
message.length = 8;
message.payload = txbuff;
} else { //elevatorTarget = curFloor, which means elevator is stationary
//elevatorDirection = DIR_STOPPED; //set direction to stationary
txbuff[0] = ELEV_LOCATION;
txbuff[1] = curFloor;
txbuff[2] = elevatorDirection;
message.id = ELEVATOR_CAR_ID | FLOOR_1_ID | FLOOR_2_ID | FLOOR_3_ID;
message.priority = 0x00;
message.length = 8;
message.payload = txbuff;
panelButtonsPressed[curFloor-1] = 0; //clear the panel floor button as we have reached the destination floor
targetFound = 0; //clear the target found flag to find a new target
}
/* j = (j+1) %3;
txbuff[0] = ELEV_LOCATION;
txbuff[1] = j+1;
txbuff[2] = DIR_UP;
message.id = BROADCAST_ID; //Broadcast
message.priority = 0;
message.length = 8;
message.payload = txbuff;*/
sendCanFrame(message);
if ( canRXFlag ) //have received a message from one of the various floor buttons, receive message and enter it into the required motor output.
{
if (canRXData[0] == CALL_BTN_PRESS){
if(canRXData[2] == UP_CALL_BTN){
callButtonsPressed[UP_CALL_ROW][canRXData[1]-1] = 1;
LCDprintf("Call FLOOR %d Up", canRXData[1]);
}else {
callButtonsPressed[DOWN_CALL_ROW][canRXData[1]-1] = 1;
LCDprintf("Call FLOOR %d Down", canRXData[1]);
}
} else if (canRXData[0] == PANEL_BTN_PRESS){
switch (canRXData[1]){
case PANEL_FLOOR_1:{
panelButtonsPressed[0] = 1;
LCDprintf("Car FLOOR %d", canRXData[1]);
break;
}
case PANEL_FLOOR_2:{
panelButtonsPressed[1] = 1;
LCDprintf("Car FLOOR %d", canRXData[1]);
break;
}
case PANEL_FLOOR_3:{
panelButtonsPressed[2] = 1;
LCDprintf("Car FLOOR %d", canRXData[1]);
break;
}
case PANEL_FLOOR_4:{
panelButtonsPressed[3] = 1;
break;
}
case DOOR_CLOSE:{
LCDprintf("Door Close");
break;
}
case DOOR_OPEN:{
LCDprintf("Door Open");
break;
}
case EMERG_STOP:{
panicButton = 1;
break;
}
default:
break;
}
} else if (canRXData[0] == ELEV_LOCATION){
LCDprintf("floor %d dir %d", canRXData[1], canRXData[2]);
} else if (canRXData[0] == ERROR_MSG){
} //else ignore message
//LCDprintf("Floor %d!\n %d mm", canRXData[0], distance);
canRXFlag = 0;
}
/*
//Logic to determine the current elevator target
if (targetFound == 0) {
elevatorTarget = curFloor; //set a back up target in case the target finding algorithm doesn't find any other targets
if (elevatorDirection == DIR_UP){ //Elevator is currently moving up, handle any up requests above elevator before moving down
for(i=curFloor-1; i< NUM_FLOORS; i++){
if(callButtonsPressed[UP_CALL_ROW][i] || panelButtonsPressed[i]){
callButtonsPressed[UP_CALL_ROW][i] = 0;
panelButtonsPressed[i] = 0;
elevatorTarget = i+1;
targetFound = 1;
break;
}
}
if (targetFound == 0) { //No up requests above elevator current position, service any down requests, from the top floor first
for(i = NUM_FLOORS; i >= 0; i--){
if(callButtonsPressed[DOWN_CALL_ROW][i] || panelButtonsPressed[i]){
callButtonsPressed[DOWN_CALL_ROW][i] = 0;
panelButtonsPressed[i] = 0;
elevatorTarget = i+1;
targetFound = 1;
break;
}
}
if(targetFound == 0){ //no down requests found, service any up requests below the elevator's current floor
for(i=0; i< curFloor-1; i++){
if(callButtonsPressed[UP_CALL_ROW][i]){
callButtonsPressed[UP_CALL_ROW][i] = 0;
elevatorTarget = i+1;
targetFound = 1;
break;
}
}
}
}
} else if (elevatorDirection == DIR_DOWN){ //Elevator currently moving down, handle any down requests below the elevator before moving back up
for (i=curFloor-1; i >= 0; i--){
if(callButtonsPressed[DOWN_CALL_ROW][i] || panelButtonsPressed[i]){
callButtonsPressed[DOWN_CALL_ROW][i] = 0;
panelButtonsPressed[i] = 0;
elevatorTarget = i + 1;
targetFound = 1;
break;
}
}
if (targetFound == 0) { //No down requests below elevator current position, service any up requests, from the bottom floor first
for(i = 0; i < NUM_FLOORS; i++){
if(callButtonsPressed[UP_CALL_ROW][i] || panelButtonsPressed[i]){
callButtonsPressed[UP_CALL_ROW][i] = 0;
panelButtonsPressed[i] = 0;
elevatorTarget = i+1;
targetFound = 1;
break;
}
}
if(targetFound == 0){ //no up requests found, service any down requests above the elevator's current floor
for(i=NUM_FLOORS; i >= curFloor-1; i--){
if(callButtonsPressed[DOWN_CALL_ROW][i]){
callButtonsPressed[DOWN_CALL_ROW][i] = 0;
elevatorTarget = i+1;
targetFound = 1;
break;
}
}
}
}
}
}*/
if(panicButton){
LCDprintf("EMERGENCY!");
}/* else if(targetFound){
LCDprintf("target floor: %d!", elevatorTarget);
} else {
LCDprintf("No target");
} */
msleep(100);
}
}
void initHardware(Logging *l) {
efiAssertVoid(CUSTOM_IH_STACK, getRemainingStack(chThdGetSelfX()) > 256, "init h");
sharedLogger = l;
engine_configuration_s *engineConfiguration = engine->engineConfigurationPtr;
efiAssertVoid(CUSTOM_EC_NULL, engineConfiguration!=NULL, "engineConfiguration");
board_configuration_s *boardConfiguration = &engineConfiguration->bc;
printMsg(sharedLogger, "initHardware()");
// todo: enable protection. it's disabled because it takes
// 10 extra seconds to re-flash the chip
//flashProtect();
chMtxObjectInit(&spiMtx);
#if EFI_HISTOGRAMS
/**
* histograms is a data structure for CPU monitor, it does not depend on configuration
*/
initHistogramsModule();
#endif /* EFI_HISTOGRAMS */
/**
* We need the LED_ERROR pin even before we read configuration
*/
initPrimaryPins();
if (hasFirmwareError()) {
return;
}
#if EFI_INTERNAL_FLASH
palSetPadMode(CONFIG_RESET_SWITCH_PORT, CONFIG_RESET_SWITCH_PIN, PAL_MODE_INPUT_PULLUP);
initFlash(sharedLogger);
/**
* this call reads configuration from flash memory or sets default configuration
* if flash state does not look right.
*/
if (SHOULD_INGORE_FLASH()) {
engineConfiguration->engineType = DEFAULT_ENGINE_TYPE;
resetConfigurationExt(sharedLogger, engineConfiguration->engineType PASS_ENGINE_PARAMETER_SUFFIX);
writeToFlashNow();
} else {
readFromFlash();
}
#else
engineConfiguration->engineType = DEFAULT_ENGINE_TYPE;
resetConfigurationExt(sharedLogger, engineConfiguration->engineType PASS_ENGINE_PARAMETER_SUFFIX);
#endif /* EFI_INTERNAL_FLASH */
#if EFI_HD44780_LCD
// initI2Cmodule();
lcd_HD44780_init(sharedLogger);
if (hasFirmwareError())
return;
lcd_HD44780_print_string(VCS_VERSION);
#endif /* EFI_HD44780_LCD */
if (hasFirmwareError()) {
return;
}
#if EFI_SHAFT_POSITION_INPUT || defined(__DOXYGEN__)
initTriggerDecoder();
#endif
bool isBoardTestMode_b;
if (CONFIGB(boardTestModeJumperPin) != GPIO_UNASSIGNED) {
efiSetPadMode("board test", CONFIGB(boardTestModeJumperPin),
PAL_MODE_INPUT_PULLUP);
isBoardTestMode_b = (!efiReadPin(CONFIGB(boardTestModeJumperPin)));
// we can now relese this pin, it is actually used as output sometimes
unmarkPin(CONFIGB(boardTestModeJumperPin));
} else {
isBoardTestMode_b = false;
}
#if HAL_USE_ADC || defined(__DOXYGEN__)
initAdcInputs(isBoardTestMode_b);
#endif
if (isBoardTestMode_b) {
// this method never returns
initBoardTest();
}
initRtc();
initOutputPins();
#if EFI_MAX_31855
initMax31855(sharedLogger, getSpiDevice(CONFIGB(max31855spiDevice)), CONFIGB(max31855_cs));
#endif /* EFI_MAX_31855 */
#if EFI_CAN_SUPPORT
initCan();
#endif /* EFI_CAN_SUPPORT */
// init_adc_mcp3208(&adcState, &SPID2);
// requestAdcValue(&adcState, 0);
#if EFI_SHAFT_POSITION_INPUT || defined(__DOXYGEN__)
// todo: figure out better startup logic
initTriggerCentral(sharedLogger);
#endif /* EFI_SHAFT_POSITION_INPUT */
turnOnHardware(sharedLogger);
#if HAL_USE_SPI || defined(__DOXYGEN__)
initSpiModules(boardConfiguration);
#endif
#if EFI_HIP_9011 || defined(__DOXYGEN__)
initHip9011(sharedLogger);
#endif /* EFI_HIP_9011 */
#if EFI_FILE_LOGGING || defined(__DOXYGEN__)
initMmcCard();
#endif /* EFI_FILE_LOGGING */
#if EFI_MEMS || defined(__DOXYGEN__)
initAccelerometer(PASS_ENGINE_PARAMETER_SIGNATURE);
#endif
// initFixedLeds();
#if EFI_BOSCH_YAW || defined(__DOXYGEN__)
initBoschYawRateSensor();
#endif /* EFI_BOSCH_YAW */
// initBooleanInputs();
#if EFI_UART_GPS || defined(__DOXYGEN__)
initGps();
#endif
#if EFI_SERVO
initServo();
#endif
#if ADC_SNIFFER || defined(__DOXYGEN__)
initAdcDriver();
#endif
#if HAL_USE_I2C || defined(__DOXYGEN__)
addConsoleActionII("i2c", sendI2Cbyte);
#endif
// USBMassStorageDriver UMSD1;
// while (true) {
// for (int addr = 0x20; addr < 0x28; addr++) {
// sendI2Cbyte(addr, 0);
// int err = i2cGetErrors(&I2CD1);
// print("I2C: err=%x from %d\r\n", err, addr);
// chThdSleepMilliseconds(5);
// sendI2Cbyte(addr, 255);
// chThdSleepMilliseconds(5);
// }
// }
#if EFI_VEHICLE_SPEED || defined(__DOXYGEN__)
initVehicleSpeed(sharedLogger);
#endif
#if EFI_CDM_INTEGRATION
cdmIonInit();
#endif
#if HAL_USE_EXT || defined(__DOXYGEN__)
initJoystick(sharedLogger);
#endif
calcFastAdcIndexes();
printMsg(sharedLogger, "initHardware() OK!");
}
int main(void) {
BOOL_T err = CO_FALSE; /* error flag */
UNSIGNED8 temp = 0;
uword time_lo = 0, time_hi = 0;
/*--- hardware initialization e.g SIO, Chip-Selects, ...----------*/
iniDevice();
IO_vInit();
USIC0_vInit();
USIC1_vInit();
USIC2_vInit();
#if HW_KPS == 1
USIC3_vInit();
#endif
//RTC init
DAVE_vUnlockProtecReg();
RTC_vInit();
NOP(); /* one cycle delay */
NOP(); /* one cycle delay */
DAVE_vLockProtecReg();
lNodeId = (~IO_uwReadPort(P2))&0xFF;
if (lNodeId > 127) { lNodeId = 127; }
temp = (~IO_uwReadPort(P10))&0x0F;
switch(temp){
case 0: bitRate = 10; break;
case 1: bitRate = 20; break;
case 2: bitRate = 50; break;
case 3: bitRate = 125; break;
case 4: bitRate = 250; break;
case 5: bitRate = 500; break;
case 0x9:
case 0xE:
case 0xF:
bitRate = 125;
if (((~IO_uwReadPort(P2)) & 0xFF) == 0){ lNodeId = 127; }
break;
default: bitRate = 500; break;
}
initCan(bitRate);
init_Library();
initTimer();
Start_CAN();
ENABLE_CPU_INTERRUPTS();
RTC_vSetTime(0,0);
sw_init();
//PRINTF("loop\n");
while (err == CO_FALSE) {
FlushMbox(); /* Do the CANopen job */
myRTC_ulGetTime(&time_lo, &time_hi);
//odczyt temperatury wewn.
status_wewn[2] = ad7814_read(U2C0, SPI_CS3);
sw_loop();
//sygnalizacja na diodach
if (blink(time_lo, ch1_led_st)) { //St1
IO_vResetPin(IO_P0_0_LED_ST1);
} else {
IO_vSetPin(IO_P0_0_LED_ST1);
}
if (blink(time_lo, ch2_led_st)) { //St2
IO_vResetPin(IO_P4_1_LED_ST2);
} else {
IO_vSetPin(IO_P4_1_LED_ST2);
}
if (blink(time_lo, ch1_led_err)) { //Err1
IO_vResetPin(IO_P4_2_LED_ERR1);
} else {
IO_vSetPin(IO_P4_2_LED_ERR1);
}
if (blink(time_lo, ch2_led_err)) { //Err2
IO_vResetPin(IO_P4_0_LED_ERR2);
} else {
IO_vSetPin(IO_P4_0_LED_ERR2);
}
//w funkcji err_code dopisac cykliczna informacje o kilku bledach (numer bledu jako bity w slowie "dev_led_st" a nie wartosc)
if (err_code(time_lo, dev_led_st)) { //err code - Yellow diode
IO_vResetPin(IO_P2_8_LED_C);
} else {
IO_vSetPin(IO_P2_8_LED_C);
}
/* give a chance to finish the loop */
err = endLoop();
}
PRINTF("\nSTOP\n");
Stop_CAN();
DISABLE_CPU_INTERRUPTS();
releaseTimer();
ResetIntMask();
deinit_Library();
return 0;
}
void initHardware() {
// todo: enable protection. it's disabled because it takes
// 10 extra seconds to re-flash the chip
//flashProtect();
/**
* histograms is a data structure for CPU monitor, it does not depend on configuration
*/
initHistogramsModule();
/**
* We need the LED_ERROR pin even before we read configuration
*/
initPrimaryPins();
/**
* this call reads configuration from flash memory or sets default configuration
* if flash state does not look right.
*/
initFlash();
initRtc();
initOutputPins();
initAdcInputs();
#if EFI_HIP_9011
initHip9011();
#endif /* EFI_HIP_9011 */
#if EFI_CAN_SUPPORT
initCan();
#endif /* EFI_CAN_SUPPORT */
// init_adc_mcp3208(&adcState, &SPID2);
// requestAdcValue(&adcState, 0);
// todo: figure out better startup logic
initTriggerCentral();
initShaftPositionInputCapture();
initSpiModules();
#if EFI_FILE_LOGGING
initMmcCard();
#endif /* EFI_FILE_LOGGING */
// initFixedLeds();
// initBooleanInputs();
#if EFI_UART_GPS
initGps();
#endif
#if ADC_SNIFFER
initAdcDriver();
#endif
#if EFI_HD44780_LCD
// initI2Cmodule();
lcd_HD44780_init();
char buffer[16];
itoa10(buffer, SVN_VERSION);
lcd_HD44780_print_string(buffer);
#endif
addConsoleActionII("i2c", sendI2Cbyte);
// while (true) {
// for (int addr = 0x20; addr < 0x28; addr++) {
// sendI2Cbyte(addr, 0);
// int err = i2cGetErrors(&I2CD1);
// print("I2C: err=%x from %d\r\n", err, addr);
// chThdSleepMilliseconds(5);
// sendI2Cbyte(addr, 255);
// chThdSleepMilliseconds(5);
// }
// }
initBoardTest();
}